Direct dragging teaching system and method based on force sensor

Abstract

The invention provides a direct dragging teaching system and method based on a force sensor and used in the surgical operation. The system comprises an industrial personal computer, a robot controller, a robot, the six-dimensional force sensor and a tail end executor; the six-dimensional force sensor is used for collecting stress information of the tail end executor when a doctor drags the tail end executor to do motion, the industrial personal computer carries out gravity compensation on the stress information, collected by the six-dimensional force sensor, of the tail end executor, the external force when the doctor drags the tail end executor to carry out motion is obtained, the industrial personal computer generates robot motion instructions according to the external force generated when the doctor drags the tail end executor to carry out motion, and the robot controller controls the robot to move according to the motion instructions. The multidimensional force sensor is additionally arranged on the tail end of the robot to transmit teaching intentions of the doctor, the robot is guided to move, through the gravity compensation, the gravity influence of the tail end executor isremoved, the doctor hand action force can be accurately perceived, and the flexible and accurate dragging teaching in the operation process is achieved.

Description

technical field [0001] The invention relates to the technical field of medical robots, in particular to a force sensor-based direct drag teaching system and method. Background technique [0002] Oral dental implant surgery is a precise operation under local anesthesia in a small space. A key step in the process of using a robot for dental implant operation is to control the robot to move from the outside of the patient's oral cavity to the initial position of the implant in the patient's oral cavity. During the process, it is necessary to avoid collisions between the robot and the external environment to ensure the safety of the operation. There are many ways to plan a collision-free path. The path can be automatically calculated by a computer using a suitable algorithm, or manually taught by a doctor. Considering the safety and reliability of the operation, the method of manual teaching is more reasonable. . [0003] At present, the teaching of traditional industrial robo...

AI Technical Summary

Problems solved by technology

However, general human-machine collaborative robots are mainly used in the field of industrial production. The drag force required for direct teaching is relatively large, and they are not flexible enough to meet the needs of doctors in clinical operations.

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